Delayed Reference Control Applied to Flexible Link Mechanisms: A Scheme for Effective and Stable Control

Abstract

This paper extends the use of delayed reference controllers to the simultaneous motion and vibration control of flexible link mechanisms. Vibration damping is achieved by introducing an “equivalent damping force” into the system through the computation of a suitable delayed time. The delayed time, which is based on the measured vibrations, is then employed in the trajectory planner to set the reference input. The stability of the controller is discussed and its effectiveness is proved by applying it to a four-bar planar linkage with flexible links.